Exosuit system systems and methods for assisting, resisting and aligning core biomechanical functions

ABSTRACT

Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer&#39;s normal clothing, over their clothing, between layers of clothing, or may be the wearer&#39;s primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.

CROSS-REFERENCE TO RELATED APPLICATION

This disclosure claims the benefit of U.S. Provisional Application No.62/582,750, filed Nov. 7, 2017, the disclosure of which is incorporatedherein in its entirety.

BACKGROUND

Humans exercise to stay in shape, develop muscle tone, and to increaseor maintain overall wellness. Individuals may exercise in a gym,outdoors, or at home. The individual may perform an exercise routinethat includes one or more specific exercise moves. Some of these movesmay require the individual to maintain proper form to maximizeeffectiveness of the movement and to prevent injury.

SUMMARY

Exosuit systems and methods according to various embodiments aredescribed herein. The exosuit system can be a suit that is worn by awearer on the outside of his or her body. It may be worn under thewearer's normal clothing, over their clothing, between layers ofclothing, or may be the wearer's primary clothing itself. The exosuitmay be assistive, as it physically assists the wearer in performingparticular activities, or can provide other functionality such ascommunication to the wearer through physical expressions to the body,engagement of the environment, or capturing of information from thewearer. The exosuit may also resist the wearer's motions as an exercise.

An exercise assistance system for use on a human body is provided in anembodiment. The system includes an exosuit configured to be worn on thehuman body as a garment, the exosuit including a plurality of sensors, aplurality of power layer segments that mimic musculature anatomy andmovements of the human body, communications circuitry, and controlcircuitry coupled to the communications circuitry, the plurality ofsensors, and the power layer segments. The control circuitry isoperative to receive, via the communications circuitry, a userdesignated exercise program including at least one exercise movement,and selectively activate and deactivate at least one of the plurality ofpower layer segments to apply exosuit enabled resistance to a user ofthe exosuit when the user performs the at least one exercise movement.

According to an embodiment, the plurality of power layer segments areoperative to apply varying levels of resistance to the user.

According to an embodiment, the at least one exercise movement requiresactivation of protagonist muscles, and wherein a subset of the powerlayer segments emulate activation of antagonist muscles associated withthe at least one exercise movement to provide the resistance.

According to an embodiment, each of the plurality of power layersegments includes an array of flexible linear actuators that are securedto load distribution members.

According to an embodiment, each of the plurality of power layersegments includes a flexible linear actuator that is secured to loaddistribution members.

According to an embodiment, each of the plurality of power layersegments includes a flexdrive subsystem that is secured to a first loaddistribution member, a twisted string coupled to the flexdrive subsystemand secured to a second load distribution member, andpower/communication lines coupled to the flexdrive subsystem.

According to an embodiment, the twisted string is aligned in conjunctionwith a muscle of the user.

An exercise assistance system for use on a human body is provided inanother embodiment. The system can include an exosuit configured to beworn on the human body as a next-to-skin garment, the exosuit includinga plurality of sensors, a plurality of power layer segments that mimicmusculature anatomy and movements of the human body, communicationscircuitry, and control circuitry coupled to the communicationscircuitry, the plurality of sensors, and the power layer segments. Thecontrol circuitry is operative to monitor the plurality of sensors whilea user of the exosuit is performing an exercise movement to obtainexercise factors, analyze the exercise factors to determine whether theuser is performing the exercise movement within parameters associatedwith the exercise movement, and communicate feedback that indicateswhether the user is performing the exercise movement factors within theparameters.

According to an embodiment, the communicated feedback comprises audiofeedback, visual feedback, or haptic feedback.

According to an embodiment, the control circuitry is operative toselectively activate a subset of the plurality of power layer segment toreposition the user to a correct alignment in response to adetermination that the exercise factors are not within the parameters.

According to an embodiment, the exercise factors comprise movementfactors and form factors.

According to an embodiment, the exercise factors are adjusted tocompensate for dimensions of the user of the exosuit.

According to an embodiment, each of the plurality of power layersegments includes a flexdrive subsystem that is secured to a first loaddistribution member, a twisted string coupled to the flexdrive subsystemand secured to a second load distribution member, andpower/communication lines coupled to the flexdrive subsystem.

An exercise assistance system for use on a human body is provided. Thesystem can include an exosuit configured to be worn on the human body,the exosuit including a plurality of sensors, a plurality of power layersegments that mimic musculature anatomy and movements of the human body,communications circuitry, and control circuitry coupled to thecommunications circuitry, the plurality of sensors, and the power layersegments. The control circuitry is operative to monitor the plurality ofsensors while a user of the exosuit is performing an exercise movementto obtain movement factors, analyze the movement factors to determinewhether the user is performing the exercise movement within parametersassociated with the exercise movement, and selectively activate anddeactivate at least one of the plurality of actuators to provide spotassistance to the user in response to a determination that that user isnot performing the exercise movement within the parameters associatedwith the exercise movement.

According to an embodiment, wherein the spot assistance enable the userto complete the exercise movement.

According to an embodiment, each of the plurality of power layersegments includes a flexdrive subsystem that is secured to a first loaddistribution member, a twisted string coupled to the flexdrive subsystemand secured to a second load distribution member, andpower/communication lines coupled to the flexdrive subsystem.

An exercise assistance system for use on a human body is provided in anembodiment, The system can include an exosuit configured to be worn onthe human body as a garment, the exosuit including a plurality ofsensors, a plurality of power layer segments that mimic musculatureanatomy and movements of the human body, communications circuitry, andcontrol circuitry coupled to the communications circuitry, the pluralityof sensors, and the power layer segments. The control circuitry isoperative to determine a fitness level of a user wearing the exosuit,wherein the fitness level is less than a desired fitness level; andactivate at least one of the plurality of power layer segments such thata fitness improving resistance level is exerted by the exosuit onto theuser in a manner that results in an improvement of the fitness level ofthe user over time.

According to an embodiment, the fitness improving resistance level issuch that a perceived level of effort is nearly imperceptible, yetresults in an improvement of the fitness level of the user over time.

According to an embodiment, the fitness improving resistance level issuch that the user is intermittently subjected to resistance during usermovement activity.

According to an embodiment, the control circuitry is operative to accessa database comprising fitness metrics associated with a user of thesystem, and adjust the fitness improving resistance level based on thefitness level and the fitness metrics.

According to an embodiment, the plurality of power layer segments eachcomprise at least one removable resistance element, wherein the at leastone removable resistance element is replaceable with another removableresistance element.

An group exercise assistance system for use on a human body is providedin an embodiment. The system can include a first exosuit configured tobe worn by a first person, the first exosuit including a plurality ofsensor, a plurality of power layer segments that mimic musculatureanatomy and movements of the human body, communications circuitry, andcontrol circuitry coupled to the communications circuitry, the pluralityof sensors, and the power layer segments. The control circuitry isoperative to communicate with at least a second exosuit to obtain secondsuit movement data, wherein the second exosuit is worn by a secondperson, and activate at least one of the plurality of power layersegments to coordinate movements of the first exosuit with movements ofthe second exosuit based on the second suit movement data.

According to an embodiment, the second person is a group classinstructor.

According to an embodiment, the control circuitry is operative toactivate at least one of the plurality of power layer segments tocoordinate movements of the first exosuit with movements of the secondexosuit by applying exosuit enabled resistance to the first exosuit whenthe first person performs a coordinated movement.

According to an embodiment, the control circuitry is operative tohandicap the first user by instructing the plurality of power layersegments to increase a resistance level of coordinated movementsrelative to a resistance level imposed on the second person.

An exercise assistance system for use on a human body is provided in anembodiment, The system can include an exosuit configured to be worn onthe human body as a garment, the exosuit including a plurality ofsensors, a plurality of power layer segments that mimic musculatureanatomy and movements of the human body, communications circuitry, andcontrol circuitry coupled to the communications circuitry, the pluralityof sensors, and the power layer segments. The control circuitry isoperative to monitor, via the plurality of sensors, movement of a userof the exosuit to obtain user data, wherein the user data comprises usermovement and user response to changing forces, and adjust a resistancelevel of at least one of the power layer segments based on the userdata.

According to an embodiment, the control circuitry is operative togenerate an exercise program based on the user data, and selectivelyactivate and deactivate at least one of the plurality of power layersegments based on the exercise program to apply exosuit enabledresistance to a user of the exosuit.

According to an embodiment, the control circuitry is operative to accessa fitness test, selectively activate and deactivate at least one of theplurality of power layer segments based on the fitness test, andevaluate the user data obtained during the fitness test.

BRIEF DESCRIPTION OF THE DRAWINGS

Various objects, features, and advantages of the disclosed subjectmatter can be more fully appreciated with reference to the followingdetailed description of the disclosed subject matter when considered inconnection with the following drawings, in which like reference numeralsidentify like elements.

FIGS. 1A-1C show front, back, and side views of a base layer of anexosuit according to an embodiment;

FIGS. 1D-1F show front, back, and side views, respectively, of a powerlayer according to an embodiment;

FIGS. 1G and 1H show respective front and back views of a human male'smusculature anatomy;

FIGS. 1I and 1J show front and side views of illustrative exosuit havingseveral power layer segments that approximate many of the muscles shownin FIGS. 1G and 1H, according to an embodiment;

FIGS. 2A and 2B show front and back view of illustrative exosuitaccording to an embodiment;

FIGS. 3A and 3B shows illustrative screen shots on a user deviceaccording to an embodiment:

FIGS. 4A-4C show illustrative examples in which an ARA exosuit providesalignment guidance while the user performs an exercise, according to anembodiment;

FIG. 5 shows an illustrative flowchart for providing alignment guidanceusing an exosuit according to an embodiment;

FIG. 6 shows an illustrative example in which an ARA exosuit providesresistance to the user while the user performs an exercise, according toan embodiment;

FIG. 7 shows an illustrative flowchart for providing alignment guidanceusing an exosuit according to an embodiment;

FIGS. 8A-8C show illustrative examples in which an ARA exosuit providesassistance to the user while the user performs an exercise, according toan embodiment;

FIG. 9 shows an illustrative flowchart for providing alignment guidanceusing an exosuit according to an embodiment;

FIGS. 10A, 10B, 11A, 11B, 12A, 12B, 13A-13C show illustrative ARAexosuits according to various embodiments;

FIG. 14 illustrates a exosuit and system configured to communicate withthe exosuit according to various embodiments; and

FIG. 15 illustrates a schematic of a control scheme for a exosuitaccording to various embodiments.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forthregarding the systems, methods and media of the disclosed subject matterand the environment in which such systems, methods and media mayoperate, etc., in order to provide a thorough understanding of thedisclosed subject matter. It can be apparent to one skilled in the art,however, that the disclosed subject matter may be practiced without suchspecific details, and that certain features, which are well known in theart, are not described in detail in order to avoid complication of thedisclosed subject matter. In addition, it can be understood that theexamples provided below are exemplary, and that it is contemplated thatthere are other systems, methods and media that are within the scope ofthe disclosed subject matter.

In the descriptions that follow, an exosuit or assistive exosuit is asuit that is worn by a wearer on the outside of his or her body. It maybe worn under the wearer's normal clothing, over their clothing, betweenlayers of clothing, or may be the wearer's primary clothing itself Theexosuit may be assistive, as it physically assists the wearer inperforming particular activities, or can provide other functionalitysuch as communication to the wearer through physical expressions to thebody, engagement of the environment, or capturing of information fromthe wearer. In some embodiments, an powered exosuit system can includeseveral subsystems, or layers. In some embodiments, the powered exosuitsystem can include more or less subsystems or layers. The subsystems orlayers can include the base layer, stability layer, power layer, sensorand controls layer, a covering layer, and user interface/user experience(UI/UX) layer.

The base layer provides the interfaces between the exosuit system andthe wearer's body. The base layer may be adapted to be worn directlyagainst the wearer's skin, between undergarments and outer layers ofclothing, over outer layers of clothing or a combination thereof, or thebase layer may be designed to be worn as primary clothing itself In someembodiments, the base layer can be adapted to be both comfortable andunobtrusive, as well as to comfortably and efficiently transmit loadsfrom the stability layer and power layer to the wearer's body in orderto provide the desired assistance. The base layer can typically compriseseveral different material types to achieve these purposes. Elasticmaterials may provide compliance to conform to the wearer's body andallow for ranges of movement. The innermost layer is typically adaptedto grip the wearer's skin, undergarments or clothing so that the baselayer does not slip as loads are applied. Substantially inextensiblematerials may be used to transfer loads from the stability layer andpower layer to the wearer's body. These materials may be substantiallyinextensible in one axis, yet flexible or extensible in other axes suchthat the load transmission is along preferred paths. The loadtransmission paths may be optimized to distribute the loads acrossregions of the wearer's body to minimize the forces felt by the wearer,while providing efficient load transfer with minimal loss and notcausing the base layer to slip. Collectively, this load transmissionconfiguration within the base layer may be referred to as a loaddistribution member. Load distribution members refer to flexibleelements that distribute loads across a region of the wearer's body.Examples of load distribution members can be found in InternationalApplication PCT/US16/19565, titled “Flexgrip,” the contents of which areincorporated herein by reference.

The load distribution members may incorporate one or more catenarycurves to distribute loads across the wearer's body. Multiple loaddistribution members or catenary curves may be joined with pivot points,such that as loads are applied to the structure, the arrangement of theload distribution members pivots tightens or constricts on the body toincrease the gripping strength. Compressive elements such as battens,rods, or stays may be used to transfer loads to different areas of thebase layer for comfort or structural purposes. For example, a powerlayer component may terminate in the middle back due to its size andorientation requirements, however the load distribution members thatanchor the power layer component may reside on the lower back. In thiscase, one or more compressive elements may transfer the load from thepower layer component at the middle back to the load distribution memberat the lower back.

The load distribution members may be constructed using multiplefabrication and textile application techniques. For example, the loaddistribution member can be constructed from a layered woven 45°/90° withbonded edge, spandex tooth, organza (poly) woven 45°/90° with bondededge, organza (cotton/silk) woven 45°/90°, and Tyvek (non-woven). Theload distribution member may be constructed using knit and lacing orhorse hair and spandex tooth. The load distribution member may beconstructed using channels and/or laces.

The base layer may include a flexible underlayer that is constructed tocompress against a portion of the wearer's body, either directly to theskin, or to a clothing layer, and also provides a relatively high gripsurface for one or more load distribution members to attach thereto. Theload distribution members can be coupled to the underlayer to facilitatetransmission of shears or other forces from the members, via theflexible underlayer, to skin of a body segment or to clothing worn overthe body segment, to maintain the trajectories of the members relativeto such a body segment, or to provide some other functionality. Such aflexible underlayer could have a flexibility and/or compliance thatdiffers from that of the member (e.g., that is less than that of themembers, at least in a direction along the members), such that themember can transmit forces along their length and evenly distributeshear forces and/or pressures, via the flexible underlayer, to skin of abody segment to which a flexible body harness is mounted.

Further, such a flexible underlayer can be configured to provideadditional functionality. The material of the flexible underlayer couldinclude anti -bacterial, anti-fungal, or other agents (e.g., silvernanoparticles) to prevent the growth of microorganisms. The flexibleunderlayer can be configured to manage the transport of heat and/ormoisture (e.g., sweat) from a wearer to improve the comfort andefficiency of activity of the wearer. The flexible underlayer caninclude straps, seams, hook-and-loop fasteners, clasps, zippers, orother elements configured to maintain a specified relationship betweenelements of the load distribution members and aspects of a wearer'sanatomy. The underlayer can additionally increase the ease with which awearer can don and/or doff the flexible body harness and/or a system(e.g., a flexible exosuit system) or garment that includes the flexiblebody harness. The underlayer can additionally be configured to protectthe wearer from ballistic weapons, sharp edges, shrapnel, or otherenvironmental hazards (by including, e.g., panels or flexible elementsof para-aramid or other high-strength materials). The flexibleunderlayer can also incorporate sensors that provide information on thepressure, temperature, size and fit, or other aspects of the skin andunderlayer relative to its performance and the comfort and experience ofthe wearer. The load distribution members can also incorporate motorswithin the structure of the member that can be used to adjust thepressure and other characteristics of the load distribution memberindependently of the flexdrive forces.

The base layer can additionally include features such as sizeadjustments, openings and electro-mechanical integration features toimprove ease of use and comfort for the wearer.

Size adjustment features permit the exosuit to be adjusted to thewearer's body. The size adjustments may allow the suit to be tightenedor loosened about the length or circumference of the torso or limbs. Theadjustments may comprise lacing, the Boa system, webbing, elastic,hook-and-loop or other fasteners. Size adjustment may be accomplished bythe load distribution members themselves, as they constrict onto thewearer when loaded. In one example, the torso circumference may betightened with corset-style lacing, the legs tightened withhook-and-loop in a double-back configuration, and the length andshoulder height adjusted with webbing and tension-lock fasteners such ascam-locks, D-rings or the like. The size adjustment features in the baselayer may be actuated by the power layer to dynamically adjust the baselayer to the wearer's body in different positions, in order to maintainconsistent pressure and comfort for the wearer. For example, the baselayer may be required to tighten on the thighs when standing, and loosenwhen sitting such that the base layer does not excessively constrict thethighs when seated. The dynamic size adjustment may be controlled by thesensor and controls layer, for example by detecting pressures or forcesin the base layer and actuating the power layer to consistently attainthe desired force or pressure, either through the flexdrive or throughthe motors in the load distribution members. This feature does notnecessarily cause the suit to provide physical assistance, but cancreate a more comfortable experience for the wearer, or allow thephysical assistance elements of the suit to perform better ordifferently depending on the purpose of the movement assistance.

Opening features in the base layer may be provided to facilitate donning(putting the exosuit on) and doffing (taking the exosuit off) for thewearer. Opening features may comprise zippers, hook-and-loop, snaps,buttons or other textile fasteners. In one example, a front, centralzipper provides an opening feature for the torso, while hook-and-loopfasteners provide opening features for the legs and shoulders. In thiscase, the hook-and-loop fasteners provide both opening and adjustmentfeatures. In other examples, the exosuit may simply have large openings,for example around the arms or neck, and elastic panels that allow thesuit to be donned and doffed without specific closure mechanisms. Atruncated load distribution member may be simply extended to tighten onthe wearer's body. Openings may be provided to facilitate toileting sothe user can keep the exosuit on, but only have to remove or open arelatively small portion to use the bathroom.

Electro-mechanical integration features attach components of thestability layer, power layer and sensor and controls layer into the baselayer for integration into the exosuit. The integration features may befor mechanical, structural, comfort, protective or cosmetic purposes.Structural integration features anchor components of the other layers tothe base layer. For the stability and power layers, the structuralintegration features provide for load-transmission to the base layer andload distribution members, and may accommodate specific degrees offreedom at the attachment point. For example, a snap or rivet anchoringa stability or power layer element may provide both load transmission tothe base layer, as well as a pivoting degree of freedom. Stitched,adhesive, or bonded anchors may provide load transmission with orwithout the pivoting degree of freedom. A sliding anchor, for examplealong a sleeve or rail, may provide a translational degree of freedom.Anchors may be separable, such as with snaps, buckles, clasps or hooks;or may be inseparable, such as with stitching, adhesives or otherbonding. Size adjustment features as described above may allowadjustment and customization of the stability and power layers, forexample to adjust the tension of spring or elastic elements in thepassive layer, or to adjust the length of actuators in the power layer.

Other integration features such as loops, pockets, and mounting hardwaremay simply provide attachment to components that do not have significantload transmission requirements, such as batteries, circuit boards,sensors, or cables. In some cases, components may be directly integratedinto textile components of the base layer. For example, cables orconnectors may include conductive elements that are directly woven,bonded or otherwise integrated into the base layer.

Electromechanical integration features may also protect or cosmeticallyhide components of the stability, power or sensor and controls layers.Elements of the stability layer (e.g. elastic bands or springs), powerlayer (e.g. flexible linear actuators or twisted string actuators) orsensor and controls layer (e.g. cables) may travel through sleeves,tubes, or channels integrated into the base layer, which can bothconceal and protect these components. The sleeves, tubes, or channelsmay also permit motion of the component, for example during actuation ofa power layer element. The sleeves, channels, or tubes may compriseresistance to collapse, ensuring that the component remains free anduninhibited within.

Enclosures, padding, fabric coverings, or the like may be used tofurther integrate components of other layers into the base layer forcosmetic, comfort, or protective purposes. For example, components suchas motors, batteries, cables, or circuit boards may be housed within anenclosure, fully or partially covered or surrounded in padded materialsuch that the components do not cause discomfort to the wearer, arevisually unobtrusive and integrated into the exosuit, and are protectedfrom the environment. Opening and closing features may additionallyprovide access to these components for service, removal, or replacement.

In some cases—particularly for exosuits configurable for eitherprovisional use or testing—a tether may allow for some electronic andmechanical components to be housed off the suit. In one example,electronics such as circuit boards and batteries may be over-sized, toallow for added configurability or data capture. If the large size ofthese components makes it undesirable to mount them on the exosuit, theycould be located separately from the suit and connected via a physicalor wireless tether. Larger, over-powered motors may be attached to thesuit via flexible drive linkages that allow actuation of the power layerwithout requiring large motors to be attached to the suit. Suchover-powered configurations allow optimization of exosuit parameterswithout constraints requiring all components to be attached orintegrated into the exosuit.

Electro-mechanical integration features may also include wirelesscommunication. For example, one or more power layer components may beplaced at different locations on the exosuit. Rather than utilizingphysical electrical connections to the sensors and controls layer, thesensor and controls layer may communicate with the one or more powerlayer components via wireless communication protocols such as Bluetooth,ZigBee, ultrawide band, or any other suitable communication protocol.This may reduce the electrical interconnections required within thesuit. Each of the one or more power layer components may additionallyincorporate a local battery such that each power layer component orgroup of power layer components are independently powered units that donot require direct electrical interconnections to other areas of theexosuit.

The stability layer provides passive mechanical stability and assistanceto the wearer. The stability layer comprises one or more passive(non-powered) spring or elastic elements that generate forces or storeenergy to provide stability or assistance to the wearer. An elasticelement can have an un-deformed, least-energy state. Deformation, e.g.elongation, of the elastic element stores energy and generates a forceoriented to return the elastic element toward its least-energy state.For example, elastic elements approximating hip flexors and hipextensors may provide stability to the wearer in a standing position. Asthe wearer deviates from the standing position, the elastic elements aredeformed, generating forces that stabilize the wearer and assistmaintaining the standing position. In another example, as a wearer movesfrom a standing to seated posture, energy is stored in one or moreelastic elements, generating a restorative force to assist the wearerwhen moving from the seated to standing position. Similar passive,elastic elements may be adapted to the torso or other areas of the limbsto provide positional stability or assistance moving to a position wherethe elastic elements are in their least-energy state.

Elastic elements of the stability layer may be integrated to parts ofthe base layer or be an integral part of the base layer. For exampleelastic fabrics containing spandex or similar materials may serve as acombination base/stability layer. Elastic elements may also includediscrete components such as springs or segments of elastic material suchas silicone or elastic webbing, anchored to the base layer for loadtransmission at discrete points, as described above.

The stability layer may be adjusted as described above, both to adapt tothe wearer's size and individual anatomy, as well as to achieve adesired amount of pre-tension or slack in components of the stabilitylayer in specific positions. For example, some wearers may prefer morepre-tension to provide additional stability in the standing posture,while others may prefer more slack, so that the passive layer does notinterfere with other activities such as ambulation.

The stability layer may interface with the power layer to engage,disengage, or adjust the tension or slack in one or more elasticelements. In one example, when the wearer is in a standing position, thepower layer may pre-tension one or more elastic elements of thestability layer to a desired amount for maintaining stability in thatposition. The pre-tension may be further adjusted by the power layer fordifferent positions or activities. In some embodiments, the elasticelements of the stability layer should be able to generate at least 5lbs force; preferably at least 50 lbs force when elongated.

The power layer can provide active, powered assistance to the wearer, aswell as electromechanical clutching or locking to maintain components ofthe power or stability layers in a desired position or tension. Thepower layer can include one or more flexible linear actuators (FLA). AnFLA is a powered actuator capable of generating a tensile force betweentwo attachment points, over a given stroke length. An FLA is flexible,such that it can follow a contour, for example around a body surface,and therefore the forces at the attachment points are not necessarilyaligned. In some embodiments, one or more FLAs can include one or moretwisted string actuators. In the descriptions that follow, FLA refers toa flexible linear actuator that exerts a tensile force, contracts orshortens when actuated. The FLA may be used in conjunction with amechanical clutch or lock that locks the tension force generated by theFLA in place so that the FLA motor does not have to consume power tomaintain the desired tension force. Examples of such mechanical clutchesare discussed below. In some embodiments, FLAs can include one or moretwisted string actuators or flexdrives, as described in further detailin U.S. Pat. No. 9,266,233, titled “Exosuit System,” the contents ofwhich are incorporated herein by reference. FLAs may also be used inconnection with electrolaminate clutches, which are also described inthe U.S. Pat. No. 9,266,233. The electrolaminate clutch (e.g., clutchesconfigured to use electrostatic attraction to generate controllableforces between clutching elements) may provide power savings by lockinga tension force without requiring the FLA to maintain the same force.

The FLA can also include an in line elastic element, such as a rubbertube, that may be stretched by the actuator to a length known to apply aforce to the body through the load bearing element because the elasticproperties of the rubber tube are known. Control of the stretchinglength of the rubber tube therefore controls the force applied to thebody. Active control of the stretching distance can be used to createdifferent types of experiences for the wearer of the system. The wearercan be asked to hold a posture as the tube is slowly stretched in orderto facilitate resistance training. The measured force on the tube by aseparate sensor can be used to control the length of stretching of thetube in order to maintain a constant or changing force according to anobjective for the wearer. For instance, the wearer may be using the suitto create forces that are related to experiences in a video game, orVR/AR simulation.

The powered actuators, or FLAs, are arranged on the base layer,connecting different points on the body, to generate forces forassistance with various activities. The arrangement can oftenapproximate the wearer's muscles, in order to naturally mimic and assistthe wearer's own capabilities. For example, one or more FLAs may connectthe back of the torso to the back of the legs, thus approximating thewearer's hip extensor muscles. Actuators approximating the hip extensorsmay assist with activities such as standing from a seated position,sitting from a standing position, walking, or lifting. Similarly, one ormore actuators may be arranged approximating other muscle groups, suchas the hip flexors, spinal extensors, abdominal muscles or muscles ofthe arms or legs.

The one or more FLAs approximating a group of muscles are capable ofgenerating at least 10 lb over at least a ½ inch stroke length within 4seconds. In some embodiments, one or more FLAs approximating a group ofmuscles may be capable of generating at least 250 lb. over a 6-inchstroke within ½ second. Multiple FLAs, arranged in series or parallel,may be used to approximate a single group of muscles, with the size,length, power, and strength of the FLAs optimized for the group ofmuscles and activities for which they are utilized.

The sensor and controls layer captures data from the suit and wearer,utilizes the sensor data and other commands to control the power layerbased on the activity being performed, and provides suit and wearer datato the UX/UI layer for control and informational purposes.

Sensors such as encoders or potentiometers may measure the length androtation of the FLAs, while force sensors measure the forces applied bythe FLAs. Inertial measurement units (IMUs) measure and enablecomputation of kinematic data (positions, velocities and accelerations)of points on the suit and wearer. These data enable inverse dynamicscalculations of kinetic information (forces, torques) of the suit andwearer. Electromyographic (EMG) sensors may detect the wearer's muscleactivity in specific muscle groups. Electronic control systems (ECSs) onthe suit may use parameters measured by the sensor layer to control thepower layer. Data from the IMUs may indicate both the activity beingperformed, as well as the speed and intensity. For example, a pattern ofIMU or EMG data may enable the ECS to detect that the wearer is walkingat a specific pace. This information then enables the ECS, utilizing thesensor data, to control the power layer in order to provide theappropriate assistance to the wearer. Stretchable sensors may be used asa strain gauge to measure the strain of the elements in the stabilitylayer, and thereby predict the forces in the elastic elements of thestability layer. Stretchable sensors may be embedded in the base layeror grip layer and used to measure the motion of the fabrics in the baselayer and the motion of the body.

Data from the sensor layer may be further provided to the UX/UI layer,for feedback and information to the wearer, caregivers or serviceproviders. The UX/UI layer includes the wearer's and others' interactionand experience with the exosuit system. This layer includes controls ofthe suit itself such as initiation of activities, as well as feedback tothe wearer and caregivers. A retail or service experience may includesteps of fitting, calibration, training and maintenance of the exosuitsystem. Other UX/UI features may include additional lifestyle featuressuch as electronic security, identity protection and health statusmonitoring.

The assistive exosuit can have a user interface for the wearer toinstruct the suit which activity is to be performed, as well as thetiming of the activity. In one example, a user may manually instruct theexosuit to enter an activity mode via one or more buttons, a keypad, ora tethered device such as a mobile phone. In another example, theexosuit may detect initiation of an activity from the sensor andcontrols layer, as described previously. In yet another example, theuser may speak a desired activity mode to the suit, which can interpretthe spoken request to set the desired mode. The suit may bepre-programmed to perform the activity for a specific duration, untilanother command is received from the wearer, or until the suit detectsthat the wearer has ceased the activity. The suit may include ceaseactivity features that, when activated, cause the suit to cease allactivity. The cease activity features can take into account the motionbeing performed, and can disengage in a way that takes into account theuser's position and motion, and safely returns the user to an unloadedstate in a safe posture.

The exosuit may have a UX/UI controller that is defined as a node onanother user device, such as a computer or mobile smart phone. Theexosuit may also be the base for other accessories. For example, theexosuit may include a cell phone chip so that the suit may be capable ofreceiving both data and voice commands directly similar to a cell phone,and can communicate information and voice signals through such a node.The exosuit control architecture can be configured to allow for otherdevices to be added as accessories to the exosuit. For example, a videoscreen may be connected to the exosuit to show images that are relatedto the use of the suit. The exosuit may be used to interact with smarthousehold devices such as door locks or can be used to turn on smarttelevisions and adjust channels and other settings. In these modes, thephysical assist of the suit can be used to augment or create physical orhaptic experiences for the wearer that are related to communication withthese devices. For instance, an email could have a pat on the back as aform of physical emoji that when inserted in the email causes the suitto physically tap the wearer or perform some other type of physicalexpression to the user that adds emphasis to the written email.

The exosuit may provide visual, audio, or haptic feedback or cues toinform the user of various exosuit operations. For example, the exosuitmay include vibration motors to provide haptic feedback. As a specificexample, two haptic motors may be positioned near the front hip bones toinform the user of suit activity when performing a sit-to-standassistive movement. In addition, two haptic motors may be positionednear the back hip bones to inform the user of suit activity whenperforming a stand-to-sit assistive movement. The exosuit may includeone or more light emitting diodes (LEDs) to provide visual feedback orcues. For example, LEDS may be placed near the left and/or rightshoulders within the peripheral vision of the user. The exosuit mayinclude a speaker or buzzer to provide audio feedback or cues.

In other instances, the interaction of the FLA's with the body throughthe body harness and otherwise can be used as a form of haptic feedbackto the wearer, where changes in the timing of the contraction of theFLA's can indicate certain information to the wearer. For instance, thenumber or strength of tugs of the FLA on the waist could indicate theamount of battery life remaining or that the suit has entered a readystate for an impending motion.

The control of the exosuit may also be linked to the sensors that aremeasuring the movement of the wearer, or other sensors, for instance onthe suit of another person, or sensors in the environment. The motorcommands described herein may all be activated or modified by thissensor information. In this example, the suit can exhibit its ownreflexes such that the wearer, through intentional or unintentionalmotions, cues the motion profile of the suit. When sitting, for furtherexample, the physical movement of leaning forward in the chair, as if toindicate an intention to stand up, can be sensed by the suit IMU's andbe used to trigger the sit to stand motion profile. In one embodiment,the exosuit may include sensors (e.g., electroencephalograph (EEG)sensor) that are able to monitor brain activity may be used to detect auser's desire to perform a particular movement. For example, if the useris sitting down, the EEG sensor may sense the user's desire to stand upand cause the exosuit to prime itself to assist the user in asit-to-stand assistive movement.

The suit may make sounds or provide other feedback, for instance throughquick movements of the motors, as information to the user that the suithas received a command or to describe to the user that a particularmotion profile can be applied. In the above reflex control example, thesuit may provide a high pitch sound and/or a vibration to the wearer toindicate that it is about to start the movement. This information canhelp the user to be ready for the suit movements, improving performanceand safety. Many types of cues are possible for all movements of thesuit.

Control of the suit includes the use of machine learning techniques tomeasure movement performance across many instances of one or of manywearers of suits connected via the internet, where the calculation ofthe best control motion for optimizing performance and improving safetyfor any one user is based on the aggregate information in all or asubset of the wearers of the suit. The machine learning techniques canbe used to provide user specific customization for exosuit assistivemovements. For example, a particular user may have an abnormal gait(e.g., due to a car accident) and thus is unable to take even strides.The machine learning may detect this abnormal gait and compensateaccordingly for it.

FIGS. 1A-1C show front, back, and side views of a base layer 100 of anexosuit according to an embodiment. Base layer 100 may be worn as asingle piece or as a multiple pieces. As shown, base layer 100 is shownto represent multiple pieces that can serve as load distribution members(LDMs) for the power layer (shown in FIGS. 1D-1F). Base layer 100 andany LDMs thereof can cover or occupy any part of the human body asdesired. The LDMs shown in FIGS. 1A-1C are merely illustrative of a fewpotential locations and it should be appreciated that additional LDMsmay be added or certain LDMs may be omitted.

Base layer 100 can include calf LDMs 102 and 104 that are secured aroundthe calf region or lower leg portion of the human. Calf LDMs 102 and 104are shown to be positioned between the knees and the ankles, but this ismerely illustrative. If desired, calf LDM 102 and 104 can also cover thefoot and ankle and/or the knee.

Base layer 100 can include thigh LDMs 106 and 108 that are securedaround the thigh region of the human. Thigh LDMs 106 and 108 are shownto be positioned between the knees and an upper region of the thighs. Insome embodiments, thigh LDMs 106 and 108 and calf LDMs 102 and 104,respectively, may be merged together to form leg LDMs that cover theentirety of the legs and/or feet.

Base layer 100 can include hip LDM 110 that is secured around a hipregion of the human. LDM 110 may be bounded such that it remainspositioned above the toileting regions of the human. Such bounding maymake toileting relatively easy for the human as he or she would be notbe required to remove base layer 100 to use the bathroom. In someembodiments, LDM 110 may be attached to thigh LDMs 106 and 108, but thetoileting regions may remain uncovered. In another embodiment, aremovable base layer portion may exist between LDM 100 and thigh LDMS106 and 108.

Base layer 100 can include upper torso LDM 112 that secured around anupper torso region of the human. Upper torso LDM 112 may include waistLDM 113, back LDM 114, shoulder LDM 115, and shoulder strap LDMs 116.Waist LDM 113, back LDM 114, shoulder LDM 115, and shoulder strap LDMs116 may be integrally formed to yield upper torso LDM 112. In someembodiments, a chest LDM (not shown) may also be integrated into uppertorso LDM 112. Female specific exosuits may have built in bust supportfor the chest LDM.

Base layer 100 can include upper arm LDMs 120 and 122 and lower arm LDMs124 and 126. Upper arm LDMs 120 and 122 may be secured aroundbicep/triceps region of the arm and can occupy space between theshoulder and the elbow. Lower arm LDMs 124 and 126 may be secured aroundthe forearm region of the arm and can occupy the space between the elbowand the wrist. If desired, upper arm LDM 120 and lower arm LDM 124 maybe integrated to form an arm LDM, and upper arm LDM 122 and lower armLDM 126 may be integrated to form another arm LDM. In some embodiments,arm LDMS 120, 122, 124, and 126 may form part of upper torso LDM 112.

Base layer 100 can include gluteal/pelvic LDM 128 that is secured thegluteal and pelvic region of the human. LDM 128 may be positionedbetween thigh LDMs 106 and 108 and hip LDM 110. LDM 128 may haveremovable portions such as buttoned or zippered flaps that permittoileting. Although not shown in FIGS. 1A-1C, LDMs may exist for thefeet, toes, neck, head, hands, fingers, elbows, or any other suitablebody part.

As explained above, the LDMs may serve as attachment points forcomponents of the power layer. In particular, the components thatprovide muscle assistance movements typically need to be secured in atleast two locations on the body. This way, when the flexible linearactuators are engaged, the contraction of the actuator can apply a forcebetween the at least two locations on the body. With LDMs strategicallyplaced around the body, the power layer can also be strategically placedthereon to provide any number of muscle assistance movements. Forexample, the power layer may be distributed across different LDMs orwithin different regions of the same LDM to approximate any number ofdifferent muscles or muscle groups. The power layer may approximatemuscle groups such as the abdominals, adductors, dorsal muscles,shoulders, arm extensors, wrist extensors, gluteals, arm flexors, wristflexors, scapulae fixers, thigh flexors, lumbar muscles, surae,pectorals, quadriceps, and trapezii.

FIGS. 1D-1F show front, back, and side views, respectively, of a powerlayer according to an embodiment. The power layer is shown as multiplesegments distributed across and within the various LDMs. As shown, thepower layer can include power layer segments 140-158. Each of powerlayer segments can include any number of flexible linear actuators. Someof the power layer segments may exist solely on the anterior side of thebody, exist solely on the posterior side, start on the anterior side andwrap around to the posterior side, start on the posterior side and wraparound to the anterior side, or wrap completely around a portion of thebody. Power layer segment (PLS) 140 may be secured to LDM 102 and LDM106, and PLS 141 may be secured to LDM 104 and LDM 108. PLS 142 may besecured to LDM 106 and LDM 110 and/or LDM 114, and PLS 143 may besecured to LDM 108 and LDM 110 and/or LDM 114. PLS 145 may be secured toLDM 110 and LDM 113 and/or to LDM 114 or LDM 128. PLS 146 may be securedto LDM 115 and LDM 120, and PLS 147 may be secured to LDM 115 and LDM122. PLS 148 may be secured to LDM 120 and LDM 124, and PLS 149 may besecured to LDM 122 and LDM 126.

PLS 150 may be secured to LDM 104 and LDM 108, and PLS 151 may besecured to LDM 102 and LDM 106. PLS 152 may be secured to LDM 106 andLDM 110 and/or to LDM 113, and PLS 153 may be secured to LDM 108 and LDM110 and/or LDM 113. PLS 154 may be secured to LDM 112 and LDM 110. PLS155 may be secured to LDM 112 and LDM 120, and PLS 156 may be secured toLDM 112 and LDM 122. PLS 157 may be secured to LDM 120 and LDM 124, andPLS 158 may be secured to LDM 122 and LDM 126.

It should be appreciated that the power layer segments are merelyillustrative and that additional power layer segments may be added orthat some segments may be omitted. In addition, the attachment pointsfor the power layer segments are merely illustrative and that otherattachment points may be used. The human body has many muscles,including large and small muscles that are arranged in all sorts ofdifferent configuration. For example, FIGS. 1G and 1H show respectivefront and back views of a human male's musculature anatomy, which showsmany muscles. In particular, the abdominals, adductors, dorsal muscles,shoulders, arm extensors, wrist extensors, gluteals, arm flexors, wristflexors, scapulae fixers, thigh flexors, lumbar muscles, pectorals,quadriceps, and trapezii are all shown.

FIGS. 11 and 1J show front and side views of illustrative exosuit 170having several power layer segments that approximate many of the musclesshown in FIGS. 1G and 1H. The power layer segments are represented bythe individual lines that span different parts of the body. These linesmay represent specific flexible linear actuators or groups thereof thatwork together to form the power layer segments that are secured to theLDMs (not shown). As shown, the FLAs may be arrayed to replicate atleast a portion of each of the abdominal muscles, dorsal muscles,shoulder muscles, arm extensor and flexor muscles, gluteal muscles,quadriceps muscles, thigh flexor muscles, and trapezii muscles. Thus,exosuit 170 exemplifies one of many possible different power layersegment arrangements that may be used in exosuits in accordance withembodiments discussed herein. Other possible power layer segmentarrangements are illustrated and discussed below.

The power layer segments may be arranged such that they include opposingpairs or groups, similar to the way human muscles are arranged inopposing pairs or groups of muscles. That is, for a particular movement,the opposing pairs or groups can include protagonist and antagonistmuscles. While performing the movement, protagonist muscles may performthe work, whereas the antagonist muscles provide stabilization andresistance to the movement. As a specific example, when a user isperforming a curl, the biceps muscles may serve as the protagonistmuscles and the triceps muscles may serve as the antagonist muscles. Inthis example, the power layer segments of an exosuit may emulate thebiceps and triceps. When the biceps human muscle is pulling to bend theelbow, the exosuit triceps power layer segment can pull on the otherside of the joint to resist bending of the elbow by attempting to extendit. The power layer segment can be, for example, either be a FLAoperating alone to apply the force and motion, or a FLA in series withan elastic element. In the latter case, the human biceps would beworking against the elastic element, with the FLA adjusting the lengthand thereby the resistive force of the elastic element.

Thus, by arranging the power layer segments in protagonist andantagonist pairs, the power layers segments can mimic or emulate anyprotagonist and antagonist pairs of the human anatomy musculaturesystem. This can be used to enable exosuits to provide assistivemovements, alignment movements, and resistive movements. For example,for any exercise movement requires activation of protagonist muscles, asubset of the power layer segments can emulate activation of antagonistmuscles associated with that exercise movement to provide resistance.

The design flexibility of the LDMs and PLSs can enable assist, resist,and align (ARA) exosuits to be constructed in accordance withembodiments discussed herein. Using ARA exosuits, the power layersegments can be used to resist motion, assist motion, or align theuser's form. Resistive motion can be used to provide targeted workoutsanywhere, without the need for extra gear or only requiring minimalgear. That is, the ARA exosuit can serve as a workout mechanism that theuser can use in his or her home. The assistive motion can be used toprovide the user with an additive boost to assist in maximizingtraining. Exosuit based alignment may provide audio, visual, or hapticcues for proprioceptive feedback to maintain proper form during anexercise movement.

ARA exosuits according to embodiments discussed herein can be used inwearable fitness applications and coaching applications. The ARA exosuitcan help users build power by forcing them to work at higherspeeds/demands or with higher forces. The ARA exosuit can provideproprioception improvements by enabling the user to learn skills fasterand more accurately. In addition, the ARA suit can improve balance withposture feedback. The ARA exosuit can provide neural training, forexample, by constantly challenging the muscles. The ARA exosuit can beused to provide high intensity training (HIT). For example, HIT can beperformed by having the exosuit dynamically tune resistance over a rangeof motion or activity. The ARA exosuit can be used to ensure proper formis maintained even if the user is fatigued. The ARA exosuit can be usedto provide cross-training or stretching. For example, the ARA exosuitcan enforce a stretching routine that will improve performance. Theexosuit can also monitor and track a user's flexibility, fitness, andperformance gains. The exosuit can be used to analyze and cater to aperson's training needs, including, for example, individual fitnessgoals, protection from re-injury, workout recovery, rehabilitation,injury, and maintaining fitness.

The ARA exosuit can be used in many different aspects related tofitness. For example, in some embodiments, the ARA exosut can be used inconnection with discrete exercise events. As a specific example, if theuser is performing a squat movement, the suit can monitor the userduring the squat event and provided feedback and/or assistance whereneeded. The exosuit can change resistance to provide guidance to thewearer for preferred movements in a dynamic way. This can includedynamic resistance change for motion training and not necessarily forjust resistance or strength training.

In other embodiments, the ARA exosuit can assess the activity, fitness,or metabolic state of the user wearing the suit. For example, the suitcan determine how fit a person is or determine how hard a person isexerting him or herself when performing a task. Based on thesedeterminations, the suit can provide resistance, for example, as anattempt to encourage the user to achieve a certain level of fitness. Forexample, assume a user has a set of defined goals. The suit can, basedin part of the goals, provide resistance throughout the day as a part ofthe user's everyday activity in such a way that the user does not haveto participate in discrete exercise in order to achieve a certain levelof fitness that comply with the set of defined goals. The resistance canbe applied in a passive way that subtly increases the user's fitnesswithout overwhelming the user. As a specific example, the suit can makean ordinary task such as walking more difficult (e.g., by applyingresistance that approximates walking at a 15% grade). This way, the useris increasing his or her fitness as part of normal everyday life.

In yet another embodiment, the ARA exosuit can conduct various fitnesstests on the user. For example, in one embodiment, the suit can conducta stress test for heart health. The suit can monitor the user's vitalsas it instructs the user to conduct the stress test. The suit caninstruct the user to walk and can adjust the resistance to change thedifficulty for the user to walk, thereby creating the stress condition.The suit can provide increasing or varying levels of resistance in acoordinated way and track how the wearer moves, and relate the data to arelative fitness level.

In yet another embodiment, the ARA exosuit can track and store all datarelated to the wearer's movement (e.g., motion data) and their responseto changing forces (e.g., power data). The stored data can be used tocreate custom exercise programs for the user, or to create statusreports showing progress.

In other embodiments, the ARA exosuit can be used in a classenvironment. In the class environment, the exosuit may operate inconjunction with other exosuits to promote coordination amongparticipants. Thus, the exosuits can collectively adjust theirrespective resistance levels to create a uniform class experience forall participants. In some embodiments, users that are more fit thanother users may be required to exert more force to overcome resistanceapplied thereto by the suit. For example, some users may be handicappedby making certain movements more difficult so the relative effortexerted by participants is approximately even.

FIGS. 2A and 2B show front and back view of illustrative assist, resist,and align (ARA) exosuit 200 according to an embodiment. Exosuit 200 mayembody some or all of the base layer, stability layer, power layer,sensor and controls layer, a covering layer, and user interface/userexperience (UI/UX) layer, as discussed above. In addition, ARA exosuit200 may represent one of many different specification implementations ofthe exosuit shown in FIGS. 1A-1F. ARA exosuit 200 can include base layer210 with thigh LDMs 212 and 214, arm LDMs 216 and 218, and upper torsoLDM 202. Thigh LDMs 212 and 214 may wrap around the thigh region of thehuman, and arm LDMs 216 and 218 may wrap around arm region (includingthe elbow) of the human. Upper torso LDM 220 may wrap around the torsoand neck of the human as shown. In particular, LDM 220 may cross nearthe abdomen, abut the sacrum, cover a portion of the back, and extendaround the neck.

ARA exosuit 200 can include extensor PLSs 230 and 235 secured to thighLDM 212 and 214 and upper torso LDM 220. Extensor PLSs 230 and 235 mayprovide leg muscle extensor ARA movements. Extensor PLS 230 may includeflexdrive subsystem 231, twisted string 232, and power/communicationlines 233. Flexdrive subsystem 231 may include a motor, sensors, abattery, communications circuitry, and/or control circuitry. Twistedstring 232 may be attached to flexdrive subsystem 231 and an attachmentpoint 234 on LDM 220. Power/communications lines 233 may convey controlsignals and/or power to flexdrive subsystem 231. Extensor PLS 235 mayinclude flexdrive subsystem 236, twisted string 237, andpower/communication lines 238. Twisted string 237 may be attached toflexdrive subsystem 236 and attachment point 239.

The power layer segments can include a resistance element that applies avariable amount of resistance, ranging between a zero resistance levelto a maximum resistance level. The resistance elements can bereplaceable such that different levels of resistance can be achieved.For example, if a first resistance element is not able to generateenough resistance, it may be replaced with a second resistance elementthat generates more resistance. In some examples, the resistance elementcan be varied in size such that different sizes can be used fordifferent applications, body site location (e.g., arms, legs), and sizeof the persons. This way, modularity in resistance elements is providedthat reduces cost and increases usefulness. The power layer segments maybe able to sense stretching actions being performed by the user. Forexample, the power layer segment can include integrated stretch sensing,power conduits, and communications channels.

ARA exosuit 200 can include flexor PLSs 240 and 245 and extensor PLSs250 and 255 that are secured to LDMs 216, 218, and 220 (as shown).Flexor PLSs 240 and 245 may provide arm muscle flexor ARA movements, andextensor PLSs 250 and 255 may provide arm muscle extensor ARA movements.Flexor PLS 240 may include flexdrive subsystem 241, twisted string 242,and power/communication lines 243. Twisted string 242 may be attached toflexdrive subsystem 241 and attachment point 244. Power/communicationlines 243 may be coupled to power and communications module 270. FlexorPLS 245 may include flexdrive subsystem 246, twisted string 247, andpower/communication lines 248. Twisted string 247 may be attached toflexdrive subsystem 246 and attachment point 249. Power/communicationlines 248 may be coupled to power and communications module 270.Extensor PLS 250 may include flexdrive subsystem 251, twisted string252, and power/communication lines 253. Twisted string 252 may beattached to flexdrive subsystem 251 and attachment point 254.Power/communication lines 253 may be coupled to power and communicationsmodule 270. Extensor PLS 250 may include flexdrive subsystem 256,twisted string 257, and power/communication lines 258. Twisted string256 may be attached to flexdrive subsystem 256 and attachment point 259.Power/communication lines 258 may be coupled to power and communicationsmodule 270.

ARA exosuit 200 can include flexor PLS 260 and 265 that are secured tothigh LDMs 212 and 214 and LDM 220. Flexor PLSs 260 and 265 may provideleg muscle flexor ARA movements. Flexor PLS 260 may include flexdrivesubsystem 261, twisted string 262, and power/communication lines 263.Twisted string 262 may be attached to flexdrive subsystem 261 andattachment point 264. Power/communication lines 263 may be coupled topower and communications module 275. Flexor PLS 266 may includeflexdrive subsystem 266, twisted string 267, and power/communicationlines 268. Twisted string 267 may be attached to flexdrive subsystem 266and attachment point 269. Power/communication lines 263 may be coupledto power and communications module 275

ARA exosuit 200 is designed to assist, resist, and align movements beingperformed by the user of the suit. ARA exosuit 200 may include manysensors in various locations to provide data required by controlcircuitry to provide such movements. These sensors may be locatedanywhere on base layer 210 and be electrically coupled to power andcommunications lines (e.g., 233, 237, 243, 247, 253, 257, 263, 267, orother lines). The sensors may provide absolute position data, relativeposition data, accelerometer data, gyroscopic data, inertial momentdata, strain gauge data, resistance data, or any other suitable data.

ARA exosuit 200 may include user interface 280 that enables the user tocontrol the exosuit. For example, user interface 280 can include severalbuttons or a touch screen interface. User interface 280 may also includea microphone to receive user spoken commands User interface 280 may alsoinclude a speaker that can be used to playback voice recordings. Otheruser interface element such as buzzers (e.g., vibrating elements) may bestrategically positioned around exosuit 200.

ARA exosuit 200 can include communications circuitry such as thatcontained in power and communications module 270 or 275 to communicatedirectly with a user device (e.g., a smartphone) or with the user devicevia a central sever. The user may use the user device to select one ormore exercises he or she would like to perform, and upon selection ofthe one or more exercises, ARA exosuit 200 can the assist, resist, oralign movement. The user device or exosuit 200 may provide real-timealignment guidance as to the user's performance of the movement, andexosuit 200 may provide resistance or assistance to the movement.

FIGS. 3A shows an illustrative screen shot 310 on user device 300according to an embodiment. Screen shot 310 includes several selectableexercise assets 311-317 that can be chosen by a user. Additional assets,not shown, may be scrolled to if desired. As shown, user has selectedasset 312, which corresponds to a squat exercise. In response to theuser selection of asset 312, screen shot 320 may be displayed on userdevice 300, as shown in FIG. 3B. Screen shot 320 may inform the user howmany reps and sets of squats he or she should complete for the workout.

FIGS. 4A-4C show illustrative examples in which ARA exosuit 400 providesalignment guidance while the user performs an exercise. Alignmentguidance may be provided in the form of an avatar 425 of the user on thescreen of user device 420. Avatar 425 can emulate the form of the userwhile the user performing the movement. If the user's position is notcorrect, user device 420 may show region(s) on avatar 425 that are notaligned properly. In addition, exosuit 400 may provide cues if theuser's form is not properly aligned. For example, exosuit 400 mayprovide audio, haptic, and/or visual cues that alignment is not properand can indicate which regions require correction. In FIG. 4A, exosuit400 may determine that there is excessive curvature 402 in the back ofthe user, and as a result, exosuit 400 or user device 420 may inform theuser of the necessary corrective action to be taken to conform withproper alignment associated with the movement. The user device can be asmart phone, computer, laptop, tablet, or television.

In addition to or in the alternative to providing audio, haptic, and/orvisual cues, ARA exosuit 400 may use one or more power layer segments tore-position the user in correct alignment in response to determiningthat the user is not in proper alignment. Selective activation of theappropriate power layer segments can provide proprioceptive feedback tothe user to maintain proper form. Thus, when the user deviates fromproper form, exosuit 400 can guide the user back to proper alignment.

FIG. 4B shows illustrative data input vectors 410-415 that are beingdetected by sensors located on exosuit 400. As illustrated, each of thedata input vectors may be sensed on different regions of an upper torsoLDM. These inputs can be fed to a processing unit located within exosuit400 or can be transmitted to user device 425 (of FIG. 4A) so thatcalculations can be made as to whether the user is in proper alignment.

FIG. 4C shows that exosuit 400 has determined that proper curvature 404exists in the user's back. As a result, exosuit 400 and/or user device420 may provide encouraging feedback. For example, user device 420 maydisplay a message stating “looking good” and can include otherinformation such as how many reps have been completed for the set.

FIG. 5 shows an illustrative flowchart of process 500 for providingalignment guidance using an exosuit according to an embodiment. Process500 may be implemented in an exosuit or in combination with an exosuitand a user device. The exosuit may embody the elements of exosuitsdiscussed above such as in FIGS. 1A-1F and FIGS. 2A and 2B. The exosuitmay include several sensors that are disposed throughout the suit andseveral power layer segments that mimic musculature anatomy movements ofthe human body. The exosuit may include communications circuitry andcontrol circuitry coupled to the communications circuitry, the sensors,and the power layer segments.

Starting at step 510, the control circuitry is operative to monitor thesensors while a user of the exosuit is performing an exercise movementto obtain exercise factors. The exercise factors can include any numberof suitable data inputs that provide information regarding the movementand form of the user within the exosuit. For example, the movement caninclude data such as acceleration, velocity, position, and timing of theexosuit during the movement. The form can include position data of theexosuit at different times throughout the movement. The position datacan be extrapolated to determine body positions such as back angle,shoulder position, arm position, knee position, thigh position, lumbarposition, upper back position, hip angle, elbow position, and any othercues that are indicative of form.

The exercise factors may be associated with parameters to define anamount of leeway the movement or form can vary from an ideal movement orform. That is, a particular exercise movement may have an idealbiomechanical movement and form associated with it, and the user shouldendeavor to replicate that ideal biomechanical movement and form whenperforming the exercise. Since each person is different, thebiomechanical movement for different body types will vary from oneperson to the next. The parameters may be adjusted to take thesedifferences into account. For example, the parameters may be selectedbased on a user setup process in which the user may provide dimensionsof his or her body parts.

At step 520, the control circuitry can analyze the exercise factors todetermine whether the user is performing the exercise movement withinparameters associated with the exercise movement. The control circuitrymay collect the data from the sensors to obtain the exercise factors,including the movement and form. The control circuitry can compare theexercise factors to the parameters to determine whether the movementand/or form is within an acceptable deviation of the ideal biomechanicalmovement and form for the exercise.

At step 530, the control circuitry may communicate feedback thatindicates whether the user is performing the exercise movement withinthe parameters associated with the movement. For example, if the user isperforming the movement within the parameters, the control circuitry maycause the exosuit to provide positive feedback. In addition, the controlcircuitry can communicate with a user device, which can provide positivefeedback via its touch screen or speaker based on the controlcircuitry's analysis of the sensor data. As another example, if the useris not performing the movement within the parameters, control circuitrymay provide corrective feedback. For example, the control circuitry mayselectively activate the appropriate power layer segments to repositionthe user in the correct alignment. As another example, the controlcircuitry may cause the exosuit to provide corrective feedback byplaying back a voice recording that targets the particular movement orform issues, or the exosuit may activate haptic feedback elements toindicate which regions are not in compliance with the exercise movement.In addition, the control circuitry can communicate with a user device,which can display an avatar of the user's position on a screen of a userdevice or a large screen such as a television.

It should be understood that the steps shown in FIG. 5 are illustrativeand that additional steps may be added, and that the order of the stepsmay be rearranged.

FIG. 6 shows an illustrative example in which ARA exosuit 400 providesresistance to the user while the user performs an exercise. Exosuitresistance may resist movement or actions being performed by the user ofthe exosuit to make the exercise more difficult for the user to perform,thus requiring the user to exert additional effort. The exosuit mayprovide resistance by activating power layer segments that oppose musclegroups that are needed to perform a particular exercise move. As themovement is performed, the control circuitry can dynamically controlwhich power layer segments are activated to ensure that a minimal amountof resistance is provided by the exosuit.

As shown in FIG. 6, the user is performing an air squat. As the userperforms the squat, the exosuit may provide resistance in the arms byattempting to pull the arms down as the user drops into the squatposition. The user must resist this pull as she holds the arms up whileshe drops into the squat position. When the user rises up from the squatposition, the exosuit may provide resistive forces that make it moredifficult for the user to pull herself up out of the squat position.

FIG. 7 shows an illustrative flowchart of process 700 for providingalignment guidance using an exosuit according to an embodiment. Process700 may be implemented in an exosuit or in combination with an exosuitand a user device. The exosuit may embody the elements of exosuitsdiscussed above such as in FIGS. 1A-1F and FIGS. 2A and 2B. The exosuitmay include several sensors that are disposed throughout the suit andseveral power layer segments that mimic musculature anatomy movements ofthe human body. The exosuit may include communications circuitry andcontrol circuitry coupled to the communications circuitry, the sensors,and the power layer segments.

Starting at step 710, a user designated exercise program including atleast one exercise movement may be received via the communicationscircuitry. For example, the user may select an exercise program using auser device such as a smart phone. At step 720, the control circuitrycan selectively activate and deactivate at least one of the plurality ofpower layer segments to apply exosuit enabled resistance to a user ofthe exosuit when the user performs the at least one exercise movement.

It should be understood that the steps shown in FIG. 7 are illustrativeand that additional steps may be added, and that the order of the stepsmay be rearranged.

FIGS. 8A-8C show illustrative examples in which ARA exosuit 400 providesassistance to the user while the user performs an exercise. Exosuitassistance may supplement movement or actions being performed by theuser of the exosuit to enable the user to complete the rep or set. Suchassistance may be beneficial in enabling the user to obtain muscle gainsthat she may not otherwise be able to obtain without the help of a humanspotter. The exosuit may serve the role of human spotter by providingassistance when and where it is needed.

Referring to FIG. 8A, the user is in a squat position, but the exosuitdetermines that the user is struggling to push up and out of the squatposition. The exosuit may make such a determination by evaluating thesensor data. For example, the sensor data may indicate that the user hasbeen in the squat position for over a period of time. As anotherexample, when sensors may detect neuromuscular activity, but there is nomovement, the control circuitry may determine that the user requires aspot. The exosuit may provide a notification that the user is strugglingto maintain form or perform the movement. In addition, a user device 820may also provide a notification that the user is struggling to maintainform or perform the movement.

FIG. 8B shows an illustrative screen 830 of user device 820. As shown,screen 830 indicates the exosuit has entered into “spot mode” andillustrates avatar 835. Avatar 835 may specify which power layersegments are being activated to spot the user. After spot mode isengaged, the user may be provided with muscle assistance to complete therep or set.

FIG. 9 shows an illustrative flowchart of process 900 for providingalignment guidance using an exosuit according to an embodiment. Process900 may be implemented in an exosuit or in combination with an exosuitand a user device. The exosuit may embody the elements of exosuitsdiscussed above such as in FIGS. 1A-1F and FIGS. 2A and 2B. The exosuitmay include several sensors that are disposed throughout the suit andseveral power layer segments that mimic musculature anatomy movements ofthe human body. The exosuit may include communications circuitry andcontrol circuitry coupled to the communications circuitry, the sensors,and the power layer segments.

Starting with step 910, the control circuitry can monitor the sensorswhile a user of the exosuit is performing an exercise movement to obtainexercise factors. At step 920, the control circuitry can analyze theexercise factors to determine whether the user is performing theexercise movement within parameters associated with the exercisemovement. The same parameters discussed above in apply to the spot mode.At step 930, the control circuitry may selectively activate anddeactivate at least one of the plurality of power layer segments toprovide spot assistance to the user in response to a determination thatthe user is not performing the exercise movement within the parametersassociated with the exercise movement.

It should be understood that the steps shown in FIG. 9 are illustrativeand that additional steps may be added, and that the order of the stepsmay be rearranged.

FIGS. 10A and 10B show illustrative ARA exosuits 1000 and 1050 accordingto various embodiments. Both exosuits 1000 and 1050 are worn by a userperforming a deadlift exercise. The power layer segments, as shown bythe lines spanning across the body, emphasize muscle assistance forabdominal muscles, back muscles, gluteal muscles, hip extensor muscles,and hip lateral support muscles.

FIGS. 11A and 11B show an illustrative ARA exosuit 1100 having powerlayer segments that emphasize muscle assistance for upper back muscles,abdominal muscles, hip muscles, and hip support muscles.

FIGS. 12A and 12B show an illustrative ARA exosuit 1200 having powerlayer segments that emphasize muscle assistance for shoulder muscles,arm muscles, and trapezii muscles.

FIG. 13A shows illustrative ARA exosuit 1300 having power layer segmentsthat emphasize muscle assistance for shoulder, arms, and dorsal muscles.

FIG. 13B shows illustrative ARA exosuit 1330 having power layer segmentsthat can provide a tunable resistance between two portions of the humanbody. As shown, the power layer segment may provide resistance to a userperforming a squat move.

FIG. 13CB shows illustrative ARA exosuit 1350 power layer segments thatemphasize muscle assistance for the ankle.

An exosuit can be operated by electronic controllers disposed on orwithin the exosuit or in wireless or wired communication with theexosuit. The electronic controllers can be configured in a variety ofways to operate the exosuit and to enable functions of the exosuit. Theelectronic controllers can access and execute computer-readable programsthat are stored in elements of the exosuit or in other systems that arein direct or indirect communications with the exosuit. Thecomputer-readable programs can describe methods for operating theexosuit or can describe other operations relating to a exosuit or to awearer of a exosuit.

FIG. 14 illustrates an example exosuit 1400 that includes actuators1401, sensors 1403, and a controller configured to operate elements ofexosuit 1400 (e.g., 1401, 1403) to enable functions of the exosuit 1400.The controller 1405 is configured to communicate wirelessly with a userinterface 1410. The user interface 1410 is configured to presentinformation to a user (e.g., a wearer of the exosuit 1400) and to thecontroller 1405 of the flexible exosuit or to other systems. The userinterface 1410 can be involved in controlling and/or accessinginformation from elements of the exosuit 1400. For example, anapplication being executed by the user interface 1410 can access datafrom the sensors 1403, calculate an operation (e.g., to applydorsiflexion stretch) of the actuators 1401, and transmit the calculatedoperation to the exosuit 1400. The user interface 1410 can additionallybe configured to enable other functions; for example, the user interface1410 can be configured to be used as a cellular telephone, a portablecomputer, an entertainment device, or to operate according to otherapplications.

The user interface 1410 can be configured to be removably mounted to theexosuit 1400 (e.g., by straps, magnets, Velcro, charging and/or datacables). Alternatively, the user interface 1410 can be configured as apart of the exosuit 1400 and not to be removed during normal operation.In some examples, a user interface can be incorporated as part of theexosuit 1400 (e.g., a touchscreen integrated into a sleeve of theexosuit 1400) and can be used to control and/or access information aboutthe exosuit 1400 in addition to using the user interface 1810 to controland/or access information about the exosuit 1400. In some examples, thecontroller 1805 or other elements of the exosuit 1400 are configured toenable wireless or wired communication according to a standard protocol(e.g., Bluetooth, ZigBee, WiFi, LIE or other cellular standards, IRdA,Ethernet) such that a variety of systems and devices can be made tooperate as the user interface 1410 when configured with complementarycommunications elements and computer-readable programs to enable suchfunctionality.

The exosuit 1400 can be configured as described in example embodimentsherein or in other ways according to an application. The exosuit 1400can be operated to enable a variety of applications. The exosuit 1400can be operated to enhance the strength of a wearer by detecting motionsof the wearer (e.g., using sensors 1403) and responsively applyingtorques and/or forces to the body of the wearer (e.g., using actuators1401) to increase the forces the wearer is able to apply to his/her bodyand/or environment. The exosuit 1400 can be operated to train a wearerto perform certain physical activities. For example, the exosuit 1400can be operated to enable rehabilitative therapy of a wearer. Theexosuit 1400 can operate to amplify motions and/or forces produced by awearer undergoing therapy in order to enable the wearer to successfullycomplete a program of rehabilitative therapy. Additionally oralternatively, the exosuit 1400 can be operated to prohibit disorderedmovements of the wearer and/or to use the actuators 1801 and/or otherelements (e.g., haptic feedback elements) to indicate to the wearer amotion or action to perform and/or motions or actions that should not beperformed or that should be terminated. Similarly, other programs ofphysical training (e.g., dancing, skating, other athletic activities,vocational training) can be enabled by operation of the exosuit 1400 todetect motions, torques, or forces generated by a wearer and/or to applyforces, torques, or other haptic feedback to the wearer. Otherapplications of the exosuit 1400 and/or user interface 1410 areanticipated.

The user interface 1410 can additionally communicate with communicationsnetwork(s) 1420. For example, the user interface 1410 can include a WiFiradio, an LTE transceiver or other cellular communications equipment, awired modem, or some other elements to enable the user interface 1410and exosuit 1400 to communicate with the Internet. The user interface1410 can communicate through the communications network 1420 with aserver 1430. Communication with the server 1430 can enable functions ofthe user interface 1410 and exosuit 1400. In some examples, the userinterface 1410 can upload telemetry data (e.g., location, configurationof elements 1401, 1403 of the exosuit 1400, physiological data about awearer of the exosuit 1400) to the server 1430.

In some examples, the server 1430 can be configured to control and/oraccess information from elements of the exosuit 1400 (e.g., 1401, 1403)to enable some application of the exosuit 1400. For example, the server1430 can operate elements of the exosuit 1400 to move a wearer out of adangerous situation if the wearer was injured, unconscious, or otherwiseunable to move themselves and/or operate the exosuit 1400 and userinterface 1410 to move themselves out of the dangerous situation. Otherapplications of a server in communications with a exosuit areanticipated.

The user interface 1410 can be configured to communicate with a seconduser interface 1445 in communication with and configured to operate asecond flexible exosuit 1440. Such communication can be direct (e.g.,using radio transceivers or other elements to transmit and receiveinformation over a direct wireless or wired link between the userinterface 1410 and the second user interface 1445). Additionally oralternatively, communication between the user interface 1410 and thesecond user interface 1445 can be facilitated by communicationsnetwork(s) 1420 and/or a server 1430 configured to communicate with theuser interface 1410 and the second user interface 1445 through thecommunications network(s) 1420.

Communication between the user interface 1410 and the second userinterface 1445 can enable applications of the exosuit 1400 and secondexosuit 1440. In some examples, actions of the exosuit 1400 and secondflexible exosuit 1440 and/or of wearers of the exosuit 1400 and secondexosuit 1440 can be coordinated. For example, the exosuit 1400 andsecond exosuit 1440 can be operated to coordinate the lifting of a heavyobject by the wearers. The timing of the lift, and the degree of supportprovided by each of the wearers and/or the exosuit 1400 and secondexosuit 1440 can be controlled to increase the stability with which theheavy object was carried, to reduce the risk of injury of the wearers,or according to some other consideration. Coordination of actions of theexosuit 1400 and second exosuit 1440 and/or of wearers thereof caninclude applying coordinated (in time, amplitude, or other properties)forces and/or torques to the wearers and/or elements of the environmentof the wearers and/or applying haptic feedback (though actuators of theexosuits 1400, 1440, through dedicated haptic feedback elements, orthrough other methods) to the wearers to guide the wearers toward actingin a coordinated manner.

Coordinated operation of the exosuit 1400 and second exosuit 1440 can beimplemented in a variety of ways. In some examples, one exosuit (and thewearer thereof) can act as a master, providing commands or otherinformation to the other exosuit such that operations of the exosuit1400, 1440 are coordinated. For example, the exosuit 1400, 1440 can beoperated to enable the wearers to dance (or to engage in some otherathletic activity) in a coordinated manner One of the exosuits can actas the ‘lead’, transmitting timing or other information about theactions performed by the ‘lead’ wearer to the other exosuit, enablingcoordinated dancing motions to be executed by the other wearer. In someexamples, a first wearer of a first exosuit can act as a trainer,modeling motions or other physical activities that a second wearer of asecond exosuit can learn to perform. The first exosuit can detectmotions, torques, forces, or other physical activities executed by thefirst wearer and can send information related to the detected activitiesto the second exosuit. The second exosuit can then apply forces,torques, haptic feedback, or other information to the body of the secondwearer to enable the second wearer to learn the motions or otherphysical activities modeled by the first wearer. In some examples, theserver 1430 can send commands or other information to the exosuits 1400,1440 to enable coordinated operation of the exosuits 1400, 1440.

The exosuit 1400 can be operated to transmit and/or record informationabout the actions of a wearer, the environment of the wearer, or otherinformation about a wearer of the exosuit 1400. In some examples,kinematics related to motions and actions of the wearer can be recordedand/or sent to the server 1430. These data can be collected for medical,scientific, entertainment, social media, or other applications. The datacan be used to operate a system. For example, the exosuit 1400 can beconfigured to transmit motions, forces, and/or torques generated by auser to a robotic system (e.g., a robotic arm, leg, torso, humanoidbody, or some other robotic system) and the robotic system can beconfigured to mimic the activity of the wearer and/or to map theactivity of the wearer into motions, forces, or torques of elements ofthe robotic system. In another example, the data can be used to operatea virtual avatar of the wearer, such that the motions of the avatarmirrored or were somehow related to the motions of the wearer. Thevirtual avatar can be instantiated in a virtual environment, presentedto an individual or system with which the wearer is communicating, orconfigured and operated according to some other application.

Conversely, the exosuit 1400 can be operated to present haptic or otherdata to the wearer. In some examples, the actuators 1401 (e.g., twistedstring actuators, exotendons) and/or haptic feedback elements (e.g.,EPAM haptic elements) can be operated to apply and/or modulate forcesapplied to the body of the wearer to indicate mechanical or otherinformation to the wearer. For example, the activation in a certainpattern of a haptic element of the exosuit 1400 disposed in a certainlocation of the exosuit 1400 can indicate that the wearer had received acall, email, or other communications. In another example, a roboticsystem can be operated using motions, forces, and/or torques generatedby the wearer and transmitted to the robotic system by the exosuit 1400.Forces, moments, and other aspects of the environment and operation ofthe robotic system can be transmitted to the exosuit 1400 and presented(using actuators 1401 or other haptic feedback elements) to the wearerto enable the wearer to experience force-feedback or other hapticsensations related to the wearer's operation of the robotic system. Inanother example, haptic data presented to a wearer can be generated by avirtual environment, e.g., an environment containing an avatar of thewearer that is being operated based on motions or other data related tothe wearer that is being detected by the exosuit 1400.

Note that the exosuit 1400 illustrated in FIG. 14 is only one example ofa exosuit that can be operated by control electronics, software, oralgorithms described herein. Control electronics, software, oralgorithms as described herein can be configured to control flexibleexosuits or other mechatronic and/or robotic system having more, fewer,or different actuators, sensors or other elements. Further, controlelectronics, software, or algorithms as described herein can beconfigured to control exosuits configured similarly to or differentlyfrom the illustrated exosuit 1400. Further, control electronics,software, or algorithms as described herein can be configured to controlflexible exosuits having reconfigurable hardware (i.e., exosuits thatare able to have actuators, sensors, or other elements added or removed)and/or to detect a current hardware configuration of the flexibleexosuits using a variety of methods.

A controller of a exosuit and/or computer-readable programs executed bythe controller can be configured to provide encapsulation of functionsand/or components of the flexible exosuit. That is, some elements of thecontroller (e.g., subroutines, drivers, services, daemons, functions)can be configured to operate specific elements of the exosuit (e.g., atwisted string actuator, a haptic feedback element) and to allow otherelements of the controller (e.g., other programs) to operate thespecific elements and/or to provide abstracted access to the specificelements (e.g., to translate a command to orient an actuator in acommanded direction into a set of commands sufficient to orient theactuator in the commanded direction). This encapsulation can allow avariety of services, drivers, daemons, or other computer-readableprograms to be developed for a variety of applications of a flexibleexosuits. Further, by providing encapsulation of functions of a flexibleexosuit in a generic, accessible manner (e.g., by specifying andimplementing an application programming interface (API) or otherinterface standard), computer-readable programs can be created tointerface with the generic, encapsulated functions such that thecomputer-readable programs can enable operating modes or functions for avariety of differently-configured exosuit, rather than for a single typeor model of flexible exosuit. For example, a virtual avatarcommunications program can access information about the posture of awearer of a flexible exosuit by accessing a standard exosuit API.Differently-configured exosuits can include different sensors,actuators, and other elements, but can provide posture information inthe same format according to the API. Other functions and features of aflexible exosuit, or other robotic, exoskeletal, assistive, haptic, orother mechatronic system, can be encapsulated by APIs or according tosome other standardized computer access and control interface scheme.

FIG. 15 is a schematic illustrating elements of an exosuit 1500 and ahierarchy of control or operating the exosuit 1500. The flexible exosuitincludes actuators 1520 and sensors 1530 configured to apply forcesand/or torques to and detect one or more properties of, respectively,the exosuit 1500, a wearer of the exosuit 1500, and/or the environmentof the wearer. The exosuit 1500 additionally includes a controller 1510configured to operate the actuators 1520 and sensors 1530 by usinghardware interface electronics 1540. The hardware electronics interface1540 includes electronics configured to interface signals from and tothe controller 1510 with signals used to operate the actuators 1520 andsensors 1530. For example, the actuators 1520 can include exotendons,and the hardware interface electronics 1540 can include high-voltagegenerators, high-voltage switches, and high-voltage capacitance metersto clutch and un-clutch the exotendons and to report the length of theexotendons. The hardware interface electronics 1540 can include voltageregulators, high voltage generators, amplifiers, current detectors,encoders, magnetometers, switches, controlled-current sources, DACs,ADCs, feedback controllers, brushless motor controllers, or otherelectronic and mechatronic elements.

The controller 1510 additionally operates a user interface 1550 that isconfigured to present information to a user and/or wearer of the exosuit1500 and a communications interface 1560 that is configured tofacilitate the transfer of information between the controller 1510 andsome other system (e.g., by transmitting a wireless signal).Additionally or alternatively, the user interface 1550 can be part of aseparate system that is configured to transmit and receive userinterface information to/from the controller 1510 using thecommunications interface 1560 (e.g., the user interface 1550 can be partof a cellphone).

The controller 1510 is configured to execute computer-readable programsdescribing functions of the flexible exosuit 1512. Among thecomputer-readable programs executed by the controller 1510 are anoperating system 1512, applications 1514 a, 1514 b, 1514 c, and acalibration service 1516. The operating system 1512 manages hardwareresources of the controller 1510 (e.g., I/O ports, registers, timers,interrupts, peripherals, memory management units, serial and/or parallelcommunications units) and, by extension, manages the hardware resourcesof the exosuit 1500. The operating system 1512 is the onlycomputer-readable program executed by the controller 1510 that hasdirect access to the hardware interface electronics 1540 and, byextension, the actuators 1520 and sensors 1530 of the exosuit 1500.

The applications 1514 a, 1514 b, 1514 are computer-readable programsthat describe some function, functions, operating mode, or operatingmodes of the exosuit 1500. For example, application 1514 a can describea process for transmitting information about the wearer's posture toupdate a virtual avatar of the wearer that includes accessinginformation on a wearer's posture from the operating system 1512,maintaining communications with a remote system using the communicationsinterface 1560, formatting the posture information, and sending theposture information to the remote system. The calibration service 1516is a computer-readable program describing processes to store parametersdescribing properties of wearers, actuators 1520, and/or sensors 1530 ofthe exosuit 1500, to update those parameters based on operation of theactuators 1520, and/or sensors 1530 when a wearer is using the exosuit1500, to make the parameters available to the operating system 1512and/or applications 1514 a, 1514 b, 1514 c, and other functions relatingto the parameters. Note that applications 1514 a, 1514 b, 1514 andcalibration service 1516 are intended as examples of computer-readableprograms that can be run by the operating system 1512 of the controller1510 to enable functions or operating modes of a exosuit 1500.

The operating system 1512 can provide for low-level control andmaintenance of the hardware (e.g., 1520, 1530, 1540). In some examples,the operating system 1512 and/or hardware interface electronics 1540 candetect information about the exosuit 1500, the wearer, and/or thewearer's environment from one or more sensors 1530 at a constantspecified rate. The operating system 1512 can generate an estimate ofone or more states or properties of the exosuit 1500 or componentsthereof using the detected information. The operating system 1512 canupdate the generated estimate at the same rate as the constant specifiedrate or at a lower rate. The generated estimate can be generated fromthe detected information using a filter to remove noise, generate anestimate of an indirectly-detected property, or according to some otherapplication. For example, the operating system 1512 can generate theestimate from the detected information using a Kalman filter to removenoise and to generate an estimate of a single directly or indirectlymeasured property of the exosuit 1500, the wearer, and/or the wearer'senvironment using more than one sensor. In some examples, the operatingsystem can determine information about the wearer and/or exosuit 1500based on detected information from multiple points in time. For example,the operating system 1500 can determine an eversion stretch anddorsiflexion stretch.

In some examples, the operating system 1512 and/or hardware interfaceelectronics 1540 can operate and/or provide services related tooperation of the actuators 1520. That is, in case where operation of theactuators 1520 requires the generation of control signals over a periodof time, knowledge about a state or states of the actuators 1520, orother considerations, the operating system 1512 and/or hardwareinterface electronics 1540 can translate simple commands to operate theactuators 1520 (e.g., a command to generate a specified level of forceusing a twisted string actuator (TSA) of the actuators 1520) into thecomplex and/or state-based commands to the hardware interfaceelectronics 1540 and/or actuators 1520 necessary to effect the simplecommand (e.g., a sequence of currents applied to windings of a motor ofa TSA, based on a starting position of a rotor determined and stored bythe operating system 1510, a relative position of the motor detectedusing an encoder, and a force generated by the TSA detected using a loadcell).

In some examples, the operating system 1512 can further encapsulate theoperation of the exosuit 1500 by translating a system-level simplecommand (e.g., a commanded level of force tension applied to thefootplate) into commands for multiple actuators, according to theconfiguration of the exosuit 1500. This encapsulation can enable thecreation of general-purpose applications that can effect a function ofan exosuit (e.g., allowing a wearer of the exosuit to stretch his foot)without being configured to operate a specific model or type of exosuit(e.g., by being configured to generate a simple force production profilethat the operating system 1512 and hardware interface electronics 1540can translate into actuator commands sufficient to cause the actuators1520 to apply the commanded force production profile to the footplate).

The operating system 1512 can act as a standard, multi-purpose platformto enable the use of a variety of exosuits having a variety of differenthardware configurations to enable a variety of mechatronic, biomedical,human interface, training, rehabilitative, communications, and otherapplications. The operating system 1512 can make sensors 1530, actuators1520, or other elements or functions of the exosuit 1500 available toremote systems in communication with the exosuit 1500 (e.g., using thecommunications interface 1560) and/or a variety of applications,daemons, services, or other computer-readable programs being executed byoperating system 1512. The operating system 1512 can make the actuators,sensors, or other elements or functions available in a standard way(e.g., through an API, communications protocol, or other programmaticinterface) such that applications, daemons, services, or othercomputer-readable programs can be created to be installed on, executedby, and operated to enable functions or operating modes of a variety offlexible exosuits having a variety of different configurations. The API,communications protocol, or other programmatic interface made availableby the operating system 1512 can encapsulate, translate, or otherwiseabstract the operation of the exosuit 1500 to enable the creation ofsuch computer-readable programs that are able to operate to enablefunctions of a wide variety of differently-configured flexible exosuits.

Additionally or alternatively, the operating system 1512 can beconfigured to operate a modular flexible exosuit system (i.e., aflexible exosuit system wherein actuators, sensors, or other elementscan be added or subtracted from a flexible exosuit to enable operatingmodes or functions of the flexible exosuit). In some examples, theoperating system 1512 can determine the hardware configuration of theexosuit 1500 dynamically and can adjust the operation of the exosuit1500 relative to the determined current hardware configuration of theexosuit 1500. This operation can be performed in a way that was‘invisible’ to computer-readable programs (e.g., 1514 a, 1514 b, 1514 c)accessing the functionality of the exosuit 1500 through a standardizedprogrammatic interface presented by the operating system 1512. Forexample, the computer-readable program can indicate to the operatingsystem 1512, through the standardized programmatic interface, that aspecified level of torque was to be applied to an ankle of a wearer ofthe exosuit 1500. The operating system 1512 can responsively determine apattern of operation of the actuators 1520, based on the determinedhardware configuration of the exosuit 1500, sufficient to apply thespecified level of torque to the ankle of the wearer.

In some examples, the operating system 1512 and/or hardware interfaceelectronics 1540 can operate the actuators 1520 to ensure that theexosuit 1500 does not operate to directly cause the wearer to be injuredand/or elements of the exosuit 1500 to be damaged. In some examples,this can include not operating the actuators 1520 to apply forces and/ortorques to the body of the wearer that exceeded some maximum threshold.This can be implemented as a watchdog process or some othercomputer-readable program that can be configured (when executed by thecontroller 1510) to monitor the forces being applied by the actuators1520 (e.g., by monitoring commands sent to the actuators 1520 and/ormonitoring measurements of forces or other properties detected using thesensors 1530) and to disable and/or change the operation of theactuators 1520 to prevent injury of the wearer. Additionally oralternatively, the hardware interface electronics 1540 can be configuredto include circuitry to prevent excessive forces and/or torques frombeing applied to the wearer (e.g., by channeling to a comparator theoutput of a load cell that is configured to measure the force generatedby a TSA, and configuring the comparator to cut the power to the motorof the ISA when the force exceeded a specified level).

In some examples, operating the actuators 1520 to ensure that theexosuit 1500 does not damage itself can include a watchdog process orcircuitry configured to prevent over-current, over-load, over-rotation,or other conditions from occurring that can result in damage to elementsof the exosuit 1500. For example, the hardware interface electronics1540 can include a metal oxide varistor, breaker, shunt diode, or otherelement configured to limit the voltage and/or current applied to awinding of a motor.

Note that the above functions described as being enabled by theoperating system 1512 can additionally or alternatively be implementedby applications 1514 a, 1514 b, 1514 c, services, drivers, daemons, orother computer-readable programs executed by the controller 1500. Theapplications, drivers, services, daemons, or other computer-readableprograms can have special security privileges or other properties tofacilitate their use to enable the above functions.

The operating system 1512 can encapsulate the functions of the hardwareinterface electronics 1540, actuators 1520, and sensors 1530 for use byother computer-readable programs (e.g., applications 1514 a, 1514 b,1514 c, calibration service 1516), by the user (through the userinterface 1550), and/or by some other system (i.e., a system configuredto communicate with the controller 1510 through the communicationsinterface 1560). The encapsulation of functions of the exosuit 1500 cantake the form of application programming interfaces (APIs), i.e., setsof function calls and procedures that an application running on thecontroller 1510 can use to access the functionality of elements of theexosuit 1500. In some examples, the operating system 1512 can makeavailable a standard ‘exosuit API’ to applications being executed by thecontroller 1510. The ‘exosuit API’ can enable applications 1514 a, 1514b, 1514 c to access functions of the exosuit 1500 without requiringthose applications 1514 a, 1514 b, 1514 c to be configured to generatewhatever complex, time-dependent signals are necessary to operateelements of the exosuit 1500 (e.g., actuators 1520, sensors 1530).

The ‘exosuit API’ can allow applications 1514 a, 1514 b, 1514 c to sendsimple commands to the operating system 1512 (e.g., ‘begin storingmechanical energy from the ankle of the wearer when the foot of thewearer contacts the ground’) in such that the operating system 1512 caninterpret those commands and generate the command signals to thehardware interface electronics 1540 or other elements of the exosuit1500 that are sufficient to effect the simple commands generated by theapplications 1514 a, 1514 b, 1514 c (e.g., determining whether the footof the wearer has contacted the ground based on information detected bythe sensors 1530, responsively applying high voltage to an exotendonthat crosses the user's ankle).

The ‘exosuit API’ can be an industry standard (e.g., an ISO standard), aproprietary standard, an open-source standard, or otherwise madeavailable to individuals that can then produce applications forexosuits. The ‘exosuit API’ can allow applications, drivers, services,daemons, or other computer-readable programs to be created that are ableto operate a variety of different types and configurations of exosuitsby being configured to interface with the standard ‘exosuit API’ that isimplemented by the variety of different types and configurations ofexosuits. Additionally or alternatively, the ‘exosuit API’ can provide astandard encapsulation of individual exosuit-specific actuators (i.e.,actuators that apply forces to specific body segments, wheredifferently-configured exosuits may not include an actuator that appliesforces to the same specific body segments) and can provide a standardinterface for accessing information on the configuration of whateverexosuit is providing the ‘exosuit API’. An application or other programthat accesses the ‘exosuit API’ can access data about the configurationof the exosuit (e.g., locations and forces between body segmentsgenerated by actuators, specifications of actuators, locations andspecifications of sensors) and can generate simple commands forindividual actuators (e.g., generate a force of 30 newtons for 50milliseconds) based on a model of the exosuit generated by theapplication and based on the information on the accessed data about theconfiguration of the exosuit. Additional or alternate functionality canbe encapsulated by an ‘exosuit API’ according to an application.

Applications 1514 a, 1514 b, 1514 c can individually enable all or partsof the functions and operating modes of a flexible exosuit describedherein. For example, an application can enable haptic control of arobotic system by transmitting postures, forces, torques, and otherinformation about the activity of a wearer of the exosuit 1500 and bytranslating received forces and torques from the robotic system intohaptic feedback applied to the wearer (i.e., forces and torques appliedto the body of the wearer by actuators 1520 and/or haptic feedbackelements). In another example, an application can enable a wearer tolocomote more efficiently by submitting commands to and receiving datafrom the operating system 1512 (e.g., through an API) such thatactuators 1520 of the exosuit 1500 assist the movement of the user,extract negative work from phases of the wearer's locomotion and injectthe stored work to other phases of the wearer's locomotion, or othermethods of operating the exosuit 1500. Applications can be installed onthe controller 1510 and/or on a computer-readable storage mediumincluded in the exosuit 1500 by a variety of methods. Applications canbe installed from a removable computer-readable storage medium or from asystem in communication with the controller 1510 through thecommunications interface 1560. In some examples, the applications can beinstalled from a web site, a repository of compiled or un-compiledprograms on the Internet, an online store (e.g., Google Play, Mines AppStore), or some other source. Further, functions of the applications canbe contingent upon the controller 1510 being in continuous or periodiccommunication with a remote system (e.g., to receive updates,authenticate the application, to provide information about currentenvironmental conditions).

The exosuit 1500 illustrated in FIG. 15 is intended as an illustrativeexample. Other configurations of flexible exosuits and of operatingsystems, kernels, applications, drivers, services, daemons, or othercomputer-readable programs are anticipated. For example, an operatingsystem configured to operate a exosuit can include a real-time operatingsystem component configured to generate low-level commands to operateelements of the exosuit and a non-real-time component to enable lesstime-sensitive functions, like a clock on a user interface, updatingcomputer-readable programs stored in the exosuit, or other functions. Aexosuit can include more than one controller; further, some of thosecontrollers can be configured to execute real-time applications,operating systems, drivers, or other computer-readable programs (e.g.,those controllers were configured to have very short interrupt servicingroutines, very fast thread switching, or other properties and functionsrelating to latency-sensitive computations) while other controllers areconfigured to enable less time-sensitive functions of a flexibleexosuit. Additional configurations and operating modes of a exosuit areanticipated. Further, control systems configured as described herein canadditionally or alternatively be configured to enable the operation ofdevices and systems other than exosuit; for example, control systems asdescribed herein can be configured to operate robots, rigid exosuits orexoskeletons, assistive devices, prosthetics, or other mechatronicdevices.

Control of actuators of an exosuit can be implemented in a variety ofways according to a variety of control schemes. Generally, one or morehardware and/or software controllers can receive information about thestate of the flexible exosuit, a wearer of the exosuit, and/or theenvironment of the exosuit from sensors disposed on or within theexosuit and/or a remote system in communication with the exosuit. Theone or more hardware and/or software controllers can then generate acontrol output that can be executed by actuators of the exosuit toeffect a commanded state of the exosuit and/or to enable some otherapplication. One or more software controllers can be implemented as partof an operating system, kernel, driver, application, service, daemon, orother computer-readable program executed by a processor included in theexosuit.

In some embodiments, a powered assistive exosuit intended primarily forassistive functions can also be adapted to perform exosuit functions.Embodiments of such an assistive exosuit typically include FLAsapproximating muscle groups such as hip flexors, gluteal/hip extensors,spinal extensors, or abdominal muscles. In the assistive modes of theseexosuits, these FLAs provide assistance for activities such as movingbetween standing and seated positions, walking, and postural stability.Actuation of specific FLAs within such an exosuit system may alsoprovide stretching assistance. Typically, activation of one or more FLAsapproximating a muscle group can stretch the antagonist muscles. Forexample, activation of one or more FLAs approximating the abdominalmuscles might stretch the spinal extensors, or activation of one or moreFLAs approximating gluteal/hip extensor muscles can stretch the hipflexors. The exosuit may be adapted to detect when the wearer is readyto initiate a stretch and perform an automated stretching regimen; orthe wearer may indicate to the suit to initiate a stretching regimen.

It can be appreciated that assistive exosuits may have multipleapplications. Assistive exosuits may be prescribed for medicalapplications. These may include therapeutic applications, such asassistance with exercise or stretching regimens for rehabilitation,disease mitigation or other therapeutic purposes. Mobility-assistancedevices such as wheelchairs, walkers, crutches and scooters are oftenprescribed for individuals with mobility impairments. Likewise, anassistive exosuit may be prescribed for mobility assistance for patientswith mobility impairments. Compared with mobility assistance devicessuch as wheelchairs, walkers, crutches and scooters, an assistiveexosuit may be less bulky, more visually appealing, and conform withactivities of daily living such as riding in vehicles, attendingcommunity or social functions, using the toilet, and common householdactivities.

An assistive exosuit may additionally function as primary apparel,fashion items or accessories. The exosuit may be stylized for desiredvisual appearance. The stylized design may reinforce visual perceptionof the assistance that the exosuit is intended to provide. For example,an assistive exosuit intended to assist with torso and upper bodyactivities may present a visual appearance of a muscular torso and upperbody. Alternatively, the stylized design may be intended to mask orcamouflage the functionality of the assistive exosuit through design ofthe base layer, electro/mechanical integration or other design factors.

Similarly to assistive exosuits intended for medically prescribedmobility assistance, assistive exosuits may be developed and utilizedfor non-medical mobility assistance, performance enhancement andsupport. For many, independent aging is associated with greater qualityof life, however activities may become more limited with time due tonormal aging processes. An assistive exosuit may enable agingindividuals living independently to electively enhance their abilitiesand activities. For example, gait or walking assistance could enableindividuals to maintain routines such as social walking or golf.Postural assistance may render social situations more comfortable, withless fatigue. Assistance with transitioning between seated and standingpositions may reduce fatigue, increase confidence, and reduce the riskof falls. These types of assistance, while not explicitly medical innature, may enable more fulfilling, independent living during agingprocesses.

Athletic applications for an assistive exosuit are also envisioned. Inone example, an exosuit may be optimized to assist with a particularactivity, such as cycling. In the cycling example, FLAs approximatinggluteal or hip extensor muscles may be integrated into bicycle clothing,providing assistance with pedaling. The assistance could be varied basedon terrain, fatigue level or strength of the wearer, or other factors.The assistance provided may enable increased performance, injuryavoidance, or maintenance of performance in the case of injury or aging.It can be appreciated that assistive exosuits could be optimized toassist with the demands of other sports such as running, jumping,swimming, skiing, or other activities. An athletic assistive exosuit mayalso be optimized for training in a particular sport or activity.Assistive exosuits may guide the wearer in proper form or technique,such as a golf swing, running stride, skiing form, swimming stroke, orother components of sports or activities. Assistive exosuits may alsoprovide resistance for strength or endurance training. The providedresistance may be according to a regimen, such as high intensityintervals.

Assistive exosuit systems as described above may also be used in gamingapplications. Motions of the wearer, detected by the suit, may beincorporated as a game controller system. For example, the suit maysense wearer's motions that simulate running, jumping, throwing,dancing, fighting, or other motions appropriate to a particular game.The suit may provide haptic feedback to the wearer, including resistanceor assistance with the motions performed or other haptic feedback to thewearer.

Assistive exosuits as described above may be used for military or firstresponder applications. Military and first responder personnel are oftento be required to perform arduous work where safety or even life may beat stake. An assistive exosuit may provide additional strength orendurance as required for these occupations. An assistive exosuit mayconnect to one or more communication networks to provide communicationservices for the wearer, as well as remote monitoring of the suit orwearer.

Assistive exosuits as described above may be used for industrial oroccupational safety applications. Exosuits may provide more strength orendurance for specific physical tasks such as lifting or carrying orrepetitive tasks such as assembly line work. By providing physicalassistance, assistive exosuits may also help avoid or preventoccupational injury due overexertion or repetitive stress.

Assistive exosuits as described above may also be configured as homeaccessories. Home accessory assistive exosuits may assist with householdtasks such as cleaning or yard work, or may be used for recreational orexercise purposes. The communication capabilities of an assistiveexosuit may connect to a home network for communication, entertainmentor safety monitoring purposes.

It is to be understood that the disclosed subject matter is not limitedin its application to the details of construction and to thearrangements of the components set forth in the following description orillustrated in the drawings. The disclosed subject matter is capable ofother embodiments and of being practiced and carried out in variousways. Also, it is to be understood that the phraseology and terminologyemployed herein are for the purpose of description and should not beregarded as limiting.

As such, those skilled in the art can appreciate that the conception,upon which this disclosure is based, may readily be utilized as a basisfor the designing of other structures, systems, methods and media forcarrying out the several purposes of the disclosed subject matter.

Although the disclosed subject matter has been described and illustratedin the foregoing exemplary embodiments, it is understood that thepresent disclosure has been made only by way of example, and thatnumerous changes in the details of implementation of the disclosedsubject matter may be made without departing from the spirit and scopeof the disclosed subject matter.

1.-16. (canceled)
 17. An exercise assistance system for use on a humanbody, the system comprising: an exosuit configured to be worn on thehuman body as a garment, the exosuit comprising: a plurality of sensors;a plurality of power layer segments that mimic musculature anatomy andmovements of the human body; communications circuitry; and controlcircuitry coupled to the communications circuitry, the plurality ofsensors, and the power layer segments, wherein the control circuitry isoperative to: determine a fitness level of a user wearing the exosuit,wherein the fitness level is less than a desired fitness level; andactivate at least one of the plurality of power layer segments such thata fitness improving resistance level is exerted by the exosuit onto theuser in a manner that results in an improvement of the fitness level ofthe user over time.
 18. The system of claim 17, wherein the fitnessimproving resistance level is such that a perceived level of effort isnearly imperceptible, yet results in an improvement of the fitness levelof the user over time.
 19. The system of claim 17, wherein the fitnessimproving resistance level is such that the user is intermittentlysubjected to resistance during user movement activity.
 20. The system ofclaim 17, wherein the control circuitry is operative to: access adatabase comprising fitness metrics associated with a user of thesystem; and adjust the fitness improving resistance level based on thefitness level and the fitness metrics.
 21. The system of claim 17,wherein the plurality of power layer segments each comprise at least oneremovable resistance element, wherein the at least one removableresistance element is replaceable with another removable resistanceelement.
 22. An group exercise assistance system for use on a humanbody, the system comprising: a first exosuit configured to be worn by afirst person, the first exosuit comprising: a plurality of sensors; aplurality of power layer segments that mimic musculature anatomy andmovements of the human body; communications circuitry; and controlcircuitry coupled to the communications circuitry, the plurality ofsensors, and the power layer segments, wherein the control circuitry isoperative to: communicate with at least a second exosuit to obtainsecond suit movement data, wherein the second exosuit is worn by asecond person; and activate at least one of the plurality of power layersegments to coordinate movements of the first exosuit with movements ofthe second exosuit based on the second suit movement data.
 23. Thesystem of claim 22, wherein the second person is a group classinstructor.
 24. The system of claim 22, wherein the control circuitry isoperative to: activate at least one of the plurality of power layersegments to coordinate movements of the first exosuit with movements ofthe second exosuit by applying exosuit enabled resistance to the firstexosuit when the first person performs a coordinated movement.
 25. Thesystem of claim 22, wherein the control circuitry is operative to:handicap the first user by instructing the plurality of power layersegments to increase a resistance level of coordinated movementsrelative to a resistance level imposed on the second person.
 26. Anexercise assistance system for use on a human body, the systemcomprising: an exosuit configured to be worn on the human body as agarment, the exosuit comprising: a plurality of sensors; a plurality ofpower layer segments that mimic musculature anatomy and movements of thehuman body; communications circuitry; and control circuitry coupled tothe communications circuitry, the plurality of sensors, and the powerlayer segments, wherein the control circuitry is operative to: monitor,via the plurality of sensors, movement of a user of the exosuit toobtain user data, wherein the user data comprises user movement and userresponse to changing forces; and adjust a resistance level of at leastone of the power layer segments based on the user data.
 27. The systemof claim 25, wherein the control circuitry is operative to: generate anexercise program based on the user data; and selectively activate anddeactivate at least one of the plurality of power layer segments basedon the exercise program to apply exosuit enabled resistance to a user ofthe exosuit.
 28. The system of claim 25, wherein the control circuitryis operative to: access a fitness test; selectively activate anddeactivate at least one of the plurality of power layer segments basedon the fitness test; and evaluate the user data obtained during thefitness test.